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Code Issues Releases Wiki Activity

improved existing code

Browse Source 
started the GPS L2 FPGA class implementation (not finished yet)
implemented the GPS L5 FPGA class (not tested yet)
implemented the Galileo E5 FPGA class (not tested yet)

The code is still "dirty": it is yet to be cleaned of debug comments/code and any possible redundant code and not used variables.
This commit is contained in:
Marc Majoral
2018-08-01 15:55:40 +02:00
parent 75cbc3fcdd
commit bb33faea21
29 changed files with 3894 additions and 145 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/algorithms/tracking/adapters/CMakeLists.txt
View File

@@ -22,7 +22,7 @@ if(ENABLE_CUDA)
endif(ENABLE_CUDA)
if(ENABLE_FPGA)
SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_tracking_fpga.cc galileo_e1_dll_pll_veml_tracking_fpga.cc)
SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_tracking_fpga.cc gps_l2_m_dll_pll_tracking_fpga.cc galileo_e1_dll_pll_veml_tracking_fpga.cc galileo_e5a_dll_pll_tracking_fpga.cc gps_l5_dll_pll_tracking_fpga.cc)
endif(ENABLE_FPGA)
set(TRACKING_ADAPTER_SOURCES

61
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
View File

@@ -42,7 +42,7 @@
#include "display.h"
#include <glog/logging.h>
#define NUM_PRNs_GALILEO_E1 50
//#define NUM_PRNs_GALILEO_E1 50
using google::LogMessage;
@@ -50,7 +50,6 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
printf("galileo e1 fpga constructor called\n");
//dllpllconf_t trk_param;
dllpllconf_fpga_t trk_param_fpga;
DLOG(INFO) << "role " << role;
@@ -97,6 +96,7 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
std::cout << TEXT_RED << "WARNING: Galileo E1. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.track_pilot = track_pilot;
d_track_pilot = track_pilot;
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
@@ -125,49 +125,75 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 1);
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> 5 correlators
//################# PRE-COMPUTE ALL THE CODES #################
unsigned int code_samples_per_chip = 2;
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* code_samples_per_chip * Galileo_E1_NUMBER_OF_CODES * sizeof(int), volk_gnsssdr_get_alignment()));
float * ca_codes_f;
float * data_codes_f;
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * NUM_PRNs_GALILEO_E1 * sizeof(int), volk_gnsssdr_get_alignment()));
d_data_codes = static_cast<int *>(volk_gnsssdr_malloc((static_cast<unsigned int>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * 2 * NUM_PRNs_GALILEO_E1 * sizeof(int), volk_gnsssdr_get_alignment()));
if (trk_param_fpga.track_pilot)
{
d_data_codes = static_cast<int *>(volk_gnsssdr_malloc((static_cast<unsigned int>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * code_samples_per_chip * Galileo_E1_NUMBER_OF_CODES * sizeof(int), volk_gnsssdr_get_alignment()));
}
ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* code_samples_per_chip * sizeof(float), volk_gnsssdr_get_alignment()));
float* ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * sizeof(float), volk_gnsssdr_get_alignment()));
float* data_codes_f = static_cast<float *>(volk_gnsssdr_malloc((static_cast<unsigned int>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * 2 * sizeof(float), volk_gnsssdr_get_alignment()));
if (trk_param_fpga.track_pilot)
{
data_codes_f = static_cast<float *>(volk_gnsssdr_malloc((static_cast<unsigned int>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * code_samples_per_chip * sizeof(float), volk_gnsssdr_get_alignment()));
}
for (unsigned int PRN = 1; PRN <= NUM_PRNs_GALILEO_E1; PRN++)
//printf("pppppppp trk_param_fpga.track_pilot = %d\n", trk_param_fpga.track_pilot);
//int kk;
for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++)
{
char data_signal[3] = "1B";
if (trk_param_fpga.track_pilot)
{
//printf("yes tracking pilot !!!!!!!!!!!!!!!\n");
char pilot_signal[3] = "1C";
galileo_e1_code_gen_sinboc11_float(ca_codes_f, pilot_signal, PRN);
galileo_e1_code_gen_sinboc11_float(data_codes_f, data_signal, PRN);
for (unsigned int s = 0; s < Galileo_E1_B_CODE_LENGTH_CHIPS; s++)
for (unsigned int s = 0; s < 2*Galileo_E1_B_CODE_LENGTH_CHIPS; s++)
{
d_ca_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s] = static_cast<int>(ca_codes_f[s]);
d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s] = static_cast<int>(d_data_codes[s]);
d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s] = static_cast<int>(data_codes_f[s]);
//printf("%f %d | ", data_codes_f[s], d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
}
//printf("\n next \n");
//scanf ("%d",&kk);
}
else
{
//printf("no tracking pilot\n");
galileo_e1_code_gen_sinboc11_float(ca_codes_f, data_signal, PRN);
for (unsigned int s = 0; s < Galileo_E1_B_CODE_LENGTH_CHIPS; s++)
for (unsigned int s = 0; s < 2*Galileo_E1_B_CODE_LENGTH_CHIPS; s++)
{
d_ca_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s] = static_cast<int>(ca_codes_f[s]);
//printf("%f %d | ", ca_codes_f[s], d_ca_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
}
//printf("\n next \n");
//scanf ("%d",&kk);
}
}
delete[] ca_codes_f;
delete[] data_codes_f;
if (trk_param_fpga.track_pilot)
{
delete[] data_codes_f;
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length = Galileo_E1_B_CODE_LENGTH_CHIPS;
trk_param_fpga.code_length_chips = Galileo_E1_B_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;
@@ -178,9 +204,12 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
GalileoE1DllPllVemlTrackingFpga::~GalileoE1DllPllVemlTrackingFpga()
{
delete[] d_ca_codes;
delete[] d_data_codes;
}
if (d_track_pilot)
{
delete[] d_data_codes;
}
}
void GalileoE1DllPllVemlTrackingFpga::start_tracking()
{

4
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.h
View File

@@ -66,7 +66,7 @@ public:
//! Returns "Galileo_E1_DLL_PLL_VEML_Tracking"
inline std::string implementation() override
{
return "Galileo_E1_DLL_PLL_VEML_Tracking";
return "Galileo_E1_DLL_PLL_VEML_Tracking_Fpga";
}
inline size_t item_size() override
@@ -103,6 +103,8 @@ private:
unsigned int out_streams_;
int* d_ca_codes;
int* d_data_codes;
bool d_track_pilot;
};

285
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc Normal file
View File

@@ -0,0 +1,285 @@
/*!
* \file galileo_e5a_dll_pll_tracking.cc
* \brief Adapts a code DLL + carrier PLL
* tracking block to a TrackingInterface for Galileo E5a signals
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5a_dll_pll_tracking_fpga.h"
#include "configuration_interface.h"
#include "Galileo_E5a.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
using google::LogMessage;
GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
dllpllconf_fpga_t trk_param_fpga;
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
int vector_length = std::round(fs_in / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS));
trk_param_fpga.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
d_track_pilot = track_pilot;
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > Galileo_E5a_I_SECONDARY_CODE_LENGTH)
{
extend_correlation_symbols = Galileo_E5a_I_SECONDARY_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be lower than 21 when tracking the data component. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E5a. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
trk_param_fpga.track_pilot = track_pilot;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.system = 'E';
char sig_[3] = "5X";
std::memcpy(trk_param_fpga.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
trk_param_fpga.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
trk_param_fpga.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
trk_param_fpga.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
trk_param_fpga.carrier_lock_th = carrier_lock_th;
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 1);
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> 5 correlators
//################# PRE-COMPUTE ALL THE CODES #################
unsigned int code_samples_per_chip = 1;
unsigned int code_length_chips = static_cast<unsigned int>(Galileo_E5a_CODE_LENGTH_CHIPS);
gr_complex *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * code_length_chips * code_samples_per_chip, volk_gnsssdr_get_alignment()));
float *tracking_code;
float *data_code;
if (trk_param_fpga.track_pilot)
{
data_code = static_cast<float *>(volk_gnsssdr_malloc(code_samples_per_chip * code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
}
tracking_code = static_cast<float *>(volk_gnsssdr_malloc(code_samples_per_chip * code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(code_length_chips)* code_samples_per_chip * Galileo_E5a_NUMBER_OF_CODES * sizeof(int), volk_gnsssdr_get_alignment()));
if (trk_param_fpga.track_pilot)
{
d_data_codes = static_cast<int *>(volk_gnsssdr_malloc((static_cast<unsigned int>(code_length_chips)) * code_samples_per_chip * Galileo_E5a_NUMBER_OF_CODES * sizeof(int), volk_gnsssdr_get_alignment()));
}
for (unsigned int PRN = 1; PRN <= Galileo_E5a_NUMBER_OF_CODES; PRN++)
{
//galileo_e5_a_code_gen_complex_primary(aux_code, PRN, const_cast<char *>(trk_param_fpga.signal.c_str()));
galileo_e5_a_code_gen_complex_primary(aux_code, PRN, const_cast<char *>(sig_));
if (trk_param_fpga.track_pilot)
{
//d_secondary_code_string = const_cast<std::string *>(&Galileo_E5a_Q_SECONDARY_CODE[PRN - 1]);
for (unsigned int i = 0; i < code_length_chips; i++)
{
tracking_code[i] = aux_code[i].imag();
data_code[i] = aux_code[i].real();
}
for (unsigned int s = 0; s < code_length_chips; s++)
{
d_ca_codes[static_cast<int>(code_length_chips) * (PRN - 1) + s] = static_cast<int>(tracking_code[s]);
d_data_codes[static_cast<int>(code_length_chips) * (PRN - 1) + s] = static_cast<int>(data_code[s]);
//printf("%f %d | ", data_codes_f[s], d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
}
}
else
{
for (unsigned int i = 0; i < code_length_chips; i++)
{
tracking_code[i] = aux_code[i].real();
}
for (unsigned int s = 0; s < code_length_chips; s++)
{
d_ca_codes[static_cast<int>(code_length_chips)* (PRN - 1) + s] = static_cast<int>(tracking_code[s]);
//printf("%f %d | ", ca_codes_f[s], d_ca_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
}
}
}
volk_gnsssdr_free(aux_code);
volk_gnsssdr_free(tracking_code);
if (trk_param_fpga.track_pilot)
{
volk_gnsssdr_free(data_code);
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
//################# MAKE TRACKING GNURadio object ###################
// if (item_type.compare("gr_complex") == 0)
// {
// item_size_ = sizeof(gr_complex);
// tracking_ = dll_pll_veml_make_tracking(trk_param_fpga);
// }
// else
// {
// item_size_ = sizeof(gr_complex);
// LOG(WARNING) << item_type << " unknown tracking item type.";
// }
channel_ = 0;
//DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}
GalileoE5aDllPllTrackingFpga::~GalileoE5aDllPllTrackingFpga()
{
delete[] d_ca_codes;
if (d_track_pilot)
{
delete[] d_data_codes;
}
}
void GalileoE5aDllPllTrackingFpga::start_tracking()
{
//tracking_->start_tracking();
tracking_fpga_sc->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GalileoE5aDllPllTrackingFpga::set_channel(unsigned int channel)
{
channel_ = channel;
//tracking_->set_channel(channel);
tracking_fpga_sc->set_channel(channel);
}
void GalileoE5aDllPllTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
//tracking_->set_gnss_synchro(p_gnss_synchro);
tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
}
void GalileoE5aDllPllTrackingFpga::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GalileoE5aDllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GalileoE5aDllPllTrackingFpga::get_left_block()
{
//return tracking_;
return tracking_fpga_sc;
}
gr::basic_block_sptr GalileoE5aDllPllTrackingFpga::get_right_block()
{
//return tracking_;
return tracking_fpga_sc;
}

110
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.h Normal file
View File

@@ -0,0 +1,110 @@
/*!
* \file galileo_e5a_dll_pll_tracking.h
* \brief Adapts a code DLL + carrier PLL
* tracking block to a TrackingInterface for Galileo E5a signals
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_FPGA_H_
#define GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_FPGA_H_
#include "tracking_interface.h"
#include "dll_pll_veml_tracking_fpga.h"
#include <string>
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GalileoE5aDllPllTrackingFpga : public TrackingInterface
{
public:
GalileoE5aDllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aDllPllTrackingFpga();
inline std::string role() override
{
return role_;
}
//! Returns "Galileo_E5a_DLL_PLL_Tracking"
inline std::string implementation() override
{
return "Galileo_E5a_DLL_PLL_Tracking";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
private:
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
int* d_ca_codes;
int* d_data_codes;
bool d_track_pilot;
};
#endif /* GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_FPGA_H_ */

5
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
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@@ -129,6 +129,8 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 0);
trk_param_fpga.multicorr_type = 0; //multicorr_type : 0 -> 3 correlators, 1 -> 5 correlators
//################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS*NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
@@ -137,7 +139,8 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
gps_l1_ca_code_gen_int(&d_ca_codes[(int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)], PRN, 0);
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.code_length = GPS_L1_CA_CODE_LENGTH_CHIPS;
trk_param_fpga.code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);

223
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc Normal file
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@@ -0,0 +1,223 @@
/*!
* \file gps_l2_m_dll_pll_tracking.cc
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l2_m_dll_pll_tracking_fpga.h"
#include "configuration_interface.h"
#include "GPS_L2C.h"
#include "gps_l2c_signal.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
#define NUM_PRNs 32
using google::LogMessage;
GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//dllpllconf_t trk_param;
dllpllconf_fpga_t trk_param_fpga;
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
//std::string default_item_type = "gr_complex";
//std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 2.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
trk_param_fpga.early_late_space_narrow_chips = 0.0;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_param_fpga.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator != 1)
{
std::cout << TEXT_RED << "WARNING: Extended coherent integration is not allowed in GPS L2. Coherent integration has been set to 20 ms (1 symbol)" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = 1;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
{
std::cout << TEXT_RED << "WARNING: GPS L2 does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
trk_param_fpga.track_pilot = false;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.pll_bw_narrow_hz = 0.0;
trk_param_fpga.dll_bw_narrow_hz = 0.0;
trk_param_fpga.system = 'G';
char sig_[3] = "2S";
std::memcpy(trk_param_fpga.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
trk_param_fpga.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
trk_param_fpga.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
trk_param_fpga.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
trk_param_fpga.carrier_lock_th = carrier_lock_th;
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 0);
trk_param_fpga.multicorr_type = 0; //multicorr_type : 0 -> 3 correlators, 1 -> 5 correlators
//d_tracking_code = static_cast<float *>(volk_gnsssdr_malloc(2 * static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS)* NUM_PRNs * sizeof(int), volk_gnsssdr_get_alignment()));
float* ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS)* sizeof(float), volk_gnsssdr_get_alignment()));
//################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS*NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
//gps_l1_ca_code_gen_int(&d_ca_codes[(int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)], PRN, 0);
gps_l2c_m_code_gen_float(ca_codes_f, PRN);
for (unsigned int s = 0; s < 2*static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS); s++)
{
d_ca_codes[static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS)* (PRN - 1) + s] = static_cast<int>(ca_codes_f[s]);
}
}
delete[] ca_codes_f;
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.code_length_chips = GPS_L2_M_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
//################# MAKE TRACKING GNURadio object ###################
// //################# MAKE TRACKING GNURadio object ###################
// if (item_type.compare("gr_complex") == 0)
// {
// item_size_ = sizeof(gr_complex);
// tracking_ = dll_pll_veml_make_tracking(trk_param);
// }
// else
// {
// item_size_ = sizeof(gr_complex);
// LOG(WARNING) << item_type << " unknown tracking item type.";
// }
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}
GpsL2MDllPllTrackingFpga::~GpsL2MDllPllTrackingFpga()
{
}
void GpsL2MDllPllTrackingFpga::start_tracking()
{
//tracking_->start_tracking();
tracking_fpga_sc->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GpsL2MDllPllTrackingFpga::set_channel(unsigned int channel)
{
channel_ = channel;
//tracking_->set_channel(channel);
tracking_fpga_sc->set_channel(channel);
}
void GpsL2MDllPllTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
//tracking_->set_gnss_synchro(p_gnss_synchro);
tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
}
void GpsL2MDllPllTrackingFpga::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GpsL2MDllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GpsL2MDllPllTrackingFpga::get_left_block()
{
//return tracking_;
return tracking_fpga_sc;
}
gr::basic_block_sptr GpsL2MDllPllTrackingFpga::get_right_block()
{
//return tracking_;
return tracking_fpga_sc;
}

106
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.h Normal file
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@@ -0,0 +1,106 @@
/*!
* \file gps_l2_m_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_gps_l2_m_dll_pll_tracking_FPGA_H_
#define GNSS_SDR_gps_l2_m_dll_pll_tracking_FPGA_H_
#include "tracking_interface.h"
//#include "dll_pll_veml_tracking.h"
#include "dll_pll_veml_tracking_fpga.h"
#include <string>
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GpsL2MDllPllTrackingFpga : public TrackingInterface
{
public:
GpsL2MDllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL2MDllPllTrackingFpga();
inline std::string role() override
{
return role_;
}
//! Returns "GPS_L2_M_DLL_PLL_Tracking"
inline std::string implementation() override
{
return "GPS_L2_M_DLL_PLL_Tracking_Fpga";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
private:
//dll_pll_veml_tracking_sptr tracking_;
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
int* d_ca_codes;
};
#endif // GNSS_SDR_gps_l2_m_dll_pll_tracking_FPGA_H_

268
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc Normal file
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@@ -0,0 +1,268 @@
/*!
* \file gps_l5_dll_pll_tracking.cc
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for GPS L5 to a TrackingInterface
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l5_dll_pll_tracking_fpga.h"
#include "configuration_interface.h"
#include "GPS_L5.h"
#include "gps_l5_signal.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>
#define NUM_PRNs 32
using google::LogMessage;
GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//dllpllconf_t trk_param;
dllpllconf_fpga_t trk_param_fpga;
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
//std::string default_item_type = "gr_complex";
//std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5i_CODE_RATE_HZ) / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)));
trk_param_fpga.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GPS_L5i_NH_CODE_LENGTH)
{
extend_correlation_symbols = GPS_L5i_NH_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be lower than 11 when tracking the data component. Coherent integration has been set to 10 symbols (10 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L5. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
trk_param_fpga.track_pilot = track_pilot;
d_track_pilot = track_pilot;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.system = 'G';
char sig_[3] = "L5";
std::memcpy(trk_param_fpga.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
trk_param_fpga.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
trk_param_fpga.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
trk_param_fpga.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
trk_param_fpga.carrier_lock_th = carrier_lock_th;
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 0);
trk_param_fpga.multicorr_type = 0; //multicorr_type : 0 -> 3 correlators, 1 -> 5 correlators
//################# PRE-COMPUTE ALL THE CODES #################
unsigned int code_samples_per_chip = 1;
unsigned int code_length_chips = static_cast<unsigned int>(GPS_L5i_CODE_LENGTH_CHIPS);
float *tracking_code;
float *data_code;
tracking_code = static_cast<float *>(volk_gnsssdr_malloc(code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
if (trk_param_fpga.track_pilot)
{
data_code = static_cast<float *>(volk_gnsssdr_malloc(code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
}
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(code_length_chips*NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
if (trk_param_fpga.track_pilot)
{
d_data_codes = static_cast<int *>(volk_gnsssdr_malloc((static_cast<unsigned int>(code_length_chips)) * NUM_PRNs * sizeof(int), volk_gnsssdr_get_alignment()));
}
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
if (track_pilot)
{
gps_l5q_code_gen_float(tracking_code, PRN);
gps_l5i_code_gen_float(data_code, PRN);
for (unsigned int s = 0; s < 2*code_length_chips; s++)
{
d_ca_codes[static_cast<int>(code_length_chips)* (PRN - 1) + s] = static_cast<int>(tracking_code[s]);
d_data_codes[static_cast<int>(code_length_chips)* (PRN - 1) + s] = static_cast<int>(data_code[s]);
//printf("%f %d | ", data_codes_f[s], d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
}
}
else
{
gps_l5i_code_gen_float(tracking_code, PRN);
for (unsigned int s = 0; s < code_length_chips; s++)
{
d_ca_codes[static_cast<int>(code_length_chips) * (PRN - 1) + s] = static_cast<int>(data_code[s]);
//printf("%f %d | ", ca_codes_f[s], d_ca_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
}
}
}
delete[] tracking_code;
if (trk_param_fpga.track_pilot)
{
delete[] data_code;
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
//################# MAKE TRACKING GNURadio object ###################
// if (item_type.compare("gr_complex") == 0)
// {
// item_size_ = sizeof(gr_complex);
// tracking_ = dll_pll_veml_make_tracking(trk_param_fpga);
// }
// else
// {
// item_size_ = sizeof(gr_complex);
// LOG(WARNING) << item_type << " unknown tracking item type.";
// }
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}
GpsL5DllPllTrackingFpga::~GpsL5DllPllTrackingFpga()
{
delete[] d_ca_codes;
if (d_track_pilot)
{
delete[] d_data_codes;
}
}
void GpsL5DllPllTrackingFpga::start_tracking()
{
tracking_fpga_sc->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GpsL5DllPllTrackingFpga::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_fpga_sc->set_channel(channel);
}
void GpsL5DllPllTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
}
void GpsL5DllPllTrackingFpga::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GpsL5DllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GpsL5DllPllTrackingFpga::get_left_block()
{
return tracking_fpga_sc;
}
gr::basic_block_sptr GpsL5DllPllTrackingFpga::get_right_block()
{
return tracking_fpga_sc;
}

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src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.h Normal file
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/*!
* \file gps_l5_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for GPS L5 to a TrackingInterface
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L5_DLL_PLL_TRACKING_FPGA_H_
#define GNSS_SDR_GPS_L5_DLL_PLL_TRACKING_FPGA_H_
#include "tracking_interface.h"
#include "dll_pll_veml_tracking_fpga.h"
#include <string>
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GpsL5DllPllTrackingFpga : public TrackingInterface
{
public:
GpsL5DllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL5DllPllTrackingFpga();
inline std::string role() override
{
return role_;
}
//! Returns "GPS_L5_DLL_PLL_Tracking"
inline std::string implementation() override
{
return "GPS_L5_DLL_PLL_Tracking";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
private:
//dll_pll_veml_tracking_sptr tracking_;
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
bool d_track_pilot;
int* d_ca_codes;
int* d_data_codes;
};
#endif // GNSS_SDR_GPS_L5_DLL_PLL_TRACKING_FPGA_H_